High-definition map acquisition system

Abstract

Embodiments of the disclosure provide methods and systems for acquiring map data. The system may include a mounting structure configured to adjustably mount a sensor to a vehicle. The sensor may be configured to capture data indicative of at least one surrounding object as the vehicle travels along a path. The system may further include a controller configured to dynamically determine a mounting angle based on the captured data, and cause the mounting structure to adjust the sensor according to the dynamically determined mounting angle.

What is claimed is: 
     
       1. A system for acquiring map data, comprising:
 a mounting structure configured to adjustably mount a sensor to a vehicle, wherein the sensor is configured to capture data indicative of at least one surrounding object as the vehicle travels along a path, and the sensor includes a combination of a LiDAR and a camera mounted on the same mounting structure configured to capture the data at a same angle; and 
 a controller, configured to: 
 determine whether a number of moving objects included in the captured data exceeds a predetermined threshold; and 
 cause the vehicle to slow down based on the number of moving objects included in the captured data exceeding the predetermined threshold; 
 dynamically determine a mounting angle based on the number of moving objects included in the captured data exceeding the predetermined threshold; and 
 cause the mounting structure to adjust the sensor according to the dynamically determined mounting angle. 
 
     
     
       2. The system of  claim 1 , wherein the captured data includes image data captured by the camera and point cloud data captured by the LiDAR. 
     
     
       3. The system of  claim 1 , wherein the mounting structure includes a pivot configured to turn the sensor to the dynamically determined mounting angle. 
     
     
       4. The system of  claim 1 , wherein to determine the mounting angle based on the number of moving objects included in the captured data, the controller is further configured to:
 detect a group of static objects in the captured data exceeding a predetermined threshold; and 
 increase the mounting angle based on the detection. 
 
     
     
       5. The system of  claim 4 , wherein the static objects are high-rise buildings along the path in which the vehicle travels. 
     
     
       6. The system of  claim 1 , wherein the moving objects include pedestrians or other vehicles. 
     
     
       7. A method for acquiring map data, comprising:
 capturing data indicative of at least one surrounding object using a sensor adjustably mounted on a vehicle, as the vehicle travels along a path, wherein the sensor includes a combination of a LiDAR and a camera mounted on a same mounting structure configured to capture the data at a same angle; 
 determining, by a controller, whether a number of moving objects included in the captured data exceeds a predetermined threshold; and 
 causing the vehicle to slow down based on the number of moving objects included in the captured data exceeding the predetermined threshold; 
 dynamically determining, by the controller, a mounting angle, for mounting the sensor on the mounting structure, based on the number of moving objects included in the captured data exceeding the predetermined threshold; and 
 adjusting the sensor according to the dynamically determined mounting angle. 
 
     
     
       8. The method of  claim 7 , wherein the captured data includes image data captured by the camera and point cloud data captured by the LiDAR. 
     
     
       9. The method of  claim 7 , wherein the sensor is mounted on the vehicle via the mounting structure that includes a pivot configured to turn the sensor to the dynamically determined mounting angle. 
     
     
       10. The method of  claim 7 , wherein determining the mounting angle based on the number of moving objects included in the captured data further includes:
 detecting a group of static objects in the captured data exceeding a predetermined threshold; and 
 increasing the mounting angle based on the detection. 
 
     
     
       11. The method of  claim 10 , wherein the static objects are high-rise buildings along the path the vehicle travels. 
     
     
       12. The method of  claim 7 , wherein the moving objects include pedestrians or other vehicles. 
     
     
       13. A vehicle, comprising:
 at least one wheel; a body carried by the at least one wheel; 
 a sensor configured to capture data indicative of at least one surrounding object as the vehicle travels along a path, wherein the sensor includes a combination of a LiDAR and a camera mounted on a same mounting structure configured to capture the data at a same angle; 
 the mounting structure configured to adjustably mount the sensor to the body; and 
 a controller, configured to: 
 determine whether a number of moving objects included in the captured data exceeds a predetermined threshold; and 
 cause the vehicle to slow down based on the number of moving objects included in the captured data exceeding the predetermined threshold; 
 dynamically determine a mounting angle based on the number of moving objects included in the captured data exceeding the predetermined threshold; and 
 cause the mounting structure to adjust the sensor according to the dynamically determined mounting angle. 
 
     
     
       14. The vehicle of  claim 13 , wherein the mounting structure includes a pivot configured to turn the sensor to the dynamically determined mounting angle. 
     
     
       15. The vehicle of  claim 13 , wherein to determine the mounting angle based on the number of moving objects included in the captured data, the controller is further configured to:
 detect a group of static objects in the captured data exceeding a predetermined threshold; and 
 increase the mounting angle based on the detection. 
 
     
     
       16. The system of  claim 1 , wherein, to determine the mounting angle based on the number of moving objects included in the captured data, the controller is further configured to:
 detect a minimum number of moving objects or high-rise buildings in the captured data; and 
 decrease the mounting angle. 
 
     
     
       17. The system of  claim 1 , where the captured data includes image data captured from the camera and point cloud data captured from the LiDAR in the same angle as the camera, and wherein, to determine whether the number of moving objects included in the captured data exceeds the predetermined threshold, the controller is further configured to:
 detect objects from the captured data by correlating the image data with the point cloud data based on time stamps, vehicle positions, and a redundancy between the image data and the point cloud data; and 
 determine the moving objects by tracking different frames of the captured data.